An Observability-Constrained Magnetic Field-Aided Inertial Navigation System -- Extended Version
Year: 2024
Type: preprint
Abstract: Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an observability-constrained magnetic field-aided inertial navigation system is proposed to address the issue of erroneous yaw observability, which leads to inconsistent estimates of yaw uncertainty. The proposed method builds upon the previously proposed observability-constrained extended Kalman filter and extends it to work with a magnetic field-based odometry-aided inertial navigation system. The proposed method is evaluated using simulation and real-world data, showing that (i) the system observability properties are preserved, (ii) the estimation accuracy increases, and (iii) the perceived uncertainty calculated by the EKF is more consistent with the true uncertainty of the filter estimates.
Source: arXiv (Cornell University)
Authors: Huang, Chuan, Hendeby, Gustaf, Skog, Isaac
Institutions: Linköping University, KTH Royal Institute of Technology
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4399418224